Rigid Body Position and Attitude Estimation

In 3-D kinematic analysis of movement, we typically track the motion of three or more markers on a rigid body segment. Here are various methods to extract a 3-D position vector and rotation (or attitude) matrix from marker coordinates.

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An Excel spreadsheet that converts Euler X-Y-Z rotation angles to the other 5 possible rotation sequences as well as to the tilt-twist angles. Instructions are included in the spreadsheet.